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(11) | EP 2 011 610 A3 |
(12) | EUROPEAN PATENT APPLICATION |
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(54) | Fitting device |
(57) A fitting device (10) for fitting a first fitting member held in a hand (4) mounted
at the forward end of a robot arm (2) to a corresponding second fitting member, comprising
a detection unit (3) for detecting the force or moment generated when the first and
second fitting members come into contact with each other, and a judging unit (12)
for judging, based on the force or moment detected by the detection unit (3), whether
a one-point contact state prevails in which the first and second fitting members are
in contact with each other at one point or a two-point contact state prevails in which
the first and second fitting members are in contact with each other at least two points.
In the one-point contact state, the first fitting member held in the hand is pressed
against the second fitting member in the fitting direction thereby to proceed with
the fitting operation while maintaining the holding posture of the robot arm (2).
In the two-point contact state, the fitting operation is caused to proceed further
while the holding posture of the robot arm is changeable. As a result, the first fitting
member can be fitted in the second fitting member while keeping the robot arm in the
normal posture.
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